<html><head><meta http-equiv="content-type" content="text/html; charset=utf-8"> <style>
	.KEYW {color: #933;}
	.COMM {color: #bbb; font-style: italic;}
	.NUMB {color: #393;}
	.STRN {color: #393;}
	.REGX {color: #339;}
	.line {border-right: 1px dotted #666; color: #666; font-style: normal;}
	</style></head><body><pre><span class='line'>  1</span> <span class="COMM">/**
<span class='line'>  2</span>  * @author David Gossow - dgossow@willowgarage.com
<span class='line'>  3</span>  * @author Russell Toris - rctoris@wpi.edu
<span class='line'>  4</span>  */</span><span class="WHIT">
<span class='line'>  5</span> 
<span class='line'>  6</span> </span><span class="COMM">/**
<span class='line'>  7</span>  * A Marker can convert a ROS marker message into a THREE object.
<span class='line'>  8</span>  *
<span class='line'>  9</span>  * @constructor
<span class='line'> 10</span>  * @param options - object with following keys:
<span class='line'> 11</span>  *   * path - the base path or URL for any mesh files that will be loaded for this marker
<span class='line'> 12</span>  *   * message - the marker message
<span class='line'> 13</span>  */</span><span class="WHIT">
<span class='line'> 14</span> </span><span class="NAME">ROS3D.Marker</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">options</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 15</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">options</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 16</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">path</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.path</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="STRN">'/'</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 17</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">message</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.message</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 18</span> 
<span class='line'> 19</span> </span><span class="WHIT">  </span><span class="COMM">// check for a trailing '/'</span><span class="WHIT">
<span class='line'> 20</span> </span><span class="WHIT">  </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">path.substr</span><span class="PUNC">(</span><span class="NAME">path.length</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="WHIT"> </span><span class="NUMB">1</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">!==</span><span class="WHIT"> </span><span class="STRN">'/'</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 21</span> </span><span class="WHIT">    </span><span class="NAME">path</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="PUNC">=</span><span class="WHIT"> </span><span class="STRN">'/'</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 22</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
<span class='line'> 23</span> 
<span class='line'> 24</span> </span><span class="WHIT">  </span><span class="NAME">THREE.Object3D.call</span><span class="PUNC">(</span><span class="KEYW">this</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 25</span> </span><span class="WHIT">  </span><span class="NAME">this.useQuaternion</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">true</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 26</span> 
<span class='line'> 27</span> </span><span class="WHIT">  </span><span class="COMM">// set the pose and get the color</span><span class="WHIT">
<span class='line'> 28</span> </span><span class="WHIT">  </span><span class="NAME">this.setPose</span><span class="PUNC">(</span><span class="NAME">message.pose</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 29</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">colorMaterial</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">ROS3D.makeColorMaterial</span><span class="PUNC">(</span><span class="NAME">message.color.r</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">message.color.g</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">message.color.b</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'> 30</span> </span><span class="WHIT">      </span><span class="NAME">message.color.a</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 31</span> 
<span class='line'> 32</span> </span><span class="WHIT">  </span><span class="COMM">// create the object based on the type</span><span class="WHIT">
<span class='line'> 33</span> </span><span class="WHIT">  </span><span class="KEYW">switch</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">message.type</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 34</span> </span><span class="WHIT">    </span><span class="KEYW">case</span><span class="WHIT"> </span><span class="NAME">ROS3D.MARKER_ARROW</span><span class="PUNC">:</span><span class="WHIT">
<span class='line'> 35</span> </span><span class="WHIT">      </span><span class="COMM">// get the sizes for the arrow</span><span class="WHIT">
<span class='line'> 36</span> </span><span class="WHIT">      </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">len</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">message.scale.x</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 37</span> </span><span class="WHIT">      </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">headLength</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">len</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NUMB">0.23</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 38</span> </span><span class="WHIT">      </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">headDiameter</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">message.scale.y</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 39</span> </span><span class="WHIT">      </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">shaftDiameter</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">headDiameter</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NUMB">0.5</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 40</span> 
<span class='line'> 41</span> </span><span class="WHIT">      </span><span class="COMM">// determine the points</span><span class="WHIT">
<span class='line'> 42</span> </span><span class="WHIT">      </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">message.points.length</span><span class="WHIT"> </span><span class="PUNC">===</span><span class="WHIT"> </span><span class="NUMB">2</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 43</span> </span><span class="WHIT">        </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">p1</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">THREE.Vector3</span><span class="PUNC">(</span><span class="NAME">message.points</span><span class="PUNC">[</span><span class="NUMB">0</span><span class="PUNC">]</span><span class="PUNC">.</span><span class="NAME">x</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">message.points</span><span class="PUNC">[</span><span class="NUMB">0</span><span class="PUNC">]</span><span class="PUNC">.</span><span class="NAME">y</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">message.points</span><span class="PUNC">[</span><span class="NUMB">0</span><span class="PUNC">]</span><span class="PUNC">.</span><span class="NAME">z</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 44</span> </span><span class="WHIT">        </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">p2</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">THREE.Vector3</span><span class="PUNC">(</span><span class="NAME">message.points</span><span class="PUNC">[</span><span class="NUMB">1</span><span class="PUNC">]</span><span class="PUNC">.</span><span class="NAME">x</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">message.points</span><span class="PUNC">[</span><span class="NUMB">1</span><span class="PUNC">]</span><span class="PUNC">.</span><span class="NAME">y</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">message.points</span><span class="PUNC">[</span><span class="NUMB">1</span><span class="PUNC">]</span><span class="PUNC">.</span><span class="NAME">z</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 45</span> </span><span class="WHIT">        </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">direction</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">p1.clone</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">.</span><span class="NAME">negate</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">.</span><span class="NAME">add</span><span class="PUNC">(</span><span class="NAME">p2</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 46</span> </span><span class="WHIT">        </span><span class="COMM">// direction = p2 - p1;</span><span class="WHIT">
<span class='line'> 47</span> </span><span class="WHIT">        </span><span class="NAME">len</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">direction.length</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 48</span> </span><span class="WHIT">        </span><span class="NAME">headDiameter</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">message.scale.y</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 49</span> </span><span class="WHIT">        </span><span class="NAME">shaftDiameter</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">message.scale.x</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 50</span> 
<span class='line'> 51</span> </span><span class="WHIT">        </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">message.scale.z</span><span class="WHIT"> </span><span class="PUNC">!==</span><span class="WHIT"> </span><span class="NUMB">0.0</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 52</span> </span><span class="WHIT">          </span><span class="NAME">headLength</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">message.scale.z</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 53</span> </span><span class="WHIT">        </span><span class="PUNC">}</span><span class="WHIT">
<span class='line'> 54</span> </span><span class="WHIT">      </span><span class="PUNC">}</span><span class="WHIT">
<span class='line'> 55</span> 
<span class='line'> 56</span> </span><span class="WHIT">      </span><span class="COMM">// add the marker</span><span class="WHIT">
<span class='line'> 57</span> </span><span class="WHIT">      </span><span class="NAME">this.add</span><span class="PUNC">(</span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROS3D.Arrow</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 58</span> </span><span class="WHIT">        </span><span class="NAME">direction</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">direction</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'> 59</span> </span><span class="WHIT">        </span><span class="NAME">origin</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">p1</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'> 60</span> </span><span class="WHIT">        </span><span class="NAME">length</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">len</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'> 61</span> </span><span class="WHIT">        </span><span class="NAME">headLength</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">headLength</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'> 62</span> </span><span class="WHIT">        </span><span class="NAME">shaftDiameter</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">shaftDiameter</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'> 63</span> </span><span class="WHIT">        </span><span class="NAME">headDiameter</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">headDiameter</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'> 64</span> </span><span class="WHIT">        </span><span class="NAME">material</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">colorMaterial</span><span class="WHIT">
<span class='line'> 65</span> </span><span class="WHIT">      </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 66</span> </span><span class="WHIT">      </span><span class="KEYW">break</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 67</span> </span><span class="WHIT">    </span><span class="KEYW">case</span><span class="WHIT"> </span><span class="NAME">ROS3D.MARKER_CUBE</span><span class="PUNC">:</span><span class="WHIT">
<span class='line'> 68</span> </span><span class="WHIT">      </span><span class="COMM">// set the cube dimensions</span><span class="WHIT">
<span class='line'> 69</span> </span><span class="WHIT">      </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">geom</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">THREE.CubeGeometry</span><span class="PUNC">(</span><span class="NAME">message.scale.x</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">message.scale.y</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">message.scale.z</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 70</span> </span><span class="WHIT">      </span><span class="NAME">this.add</span><span class="PUNC">(</span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">THREE.Mesh</span><span class="PUNC">(</span><span class="NAME">geom</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">colorMaterial</span><span class="PUNC">)</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 71</span> </span><span class="WHIT">      </span><span class="KEYW">break</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 72</span> </span><span class="WHIT">    </span><span class="KEYW">case</span><span class="WHIT"> </span><span class="NAME">ROS3D.MARKER_SPHERE</span><span class="PUNC">:</span><span class="WHIT">
<span class='line'> 73</span> </span><span class="WHIT">      </span><span class="COMM">// set the sphere dimensions</span><span class="WHIT">
<span class='line'> 74</span> </span><span class="WHIT">      </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">geom</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">THREE.SphereGeometry</span><span class="PUNC">(</span><span class="NUMB">0.5</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 75</span> </span><span class="WHIT">      </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">mesh</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">THREE.Mesh</span><span class="PUNC">(</span><span class="NAME">geom</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">colorMaterial</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 76</span> </span><span class="WHIT">      </span><span class="NAME">mesh.scale.x</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">message.scale.x</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 77</span> </span><span class="WHIT">      </span><span class="NAME">mesh.scale.y</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">message.scale.y</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 78</span> </span><span class="WHIT">      </span><span class="NAME">mesh.scale.z</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">message.scale.z</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 79</span> </span><span class="WHIT">      </span><span class="NAME">this.add</span><span class="PUNC">(</span><span class="NAME">mesh</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 80</span> </span><span class="WHIT">      </span><span class="KEYW">break</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 81</span> </span><span class="WHIT">    </span><span class="KEYW">case</span><span class="WHIT"> </span><span class="NAME">ROS3D.MARKER_CYLINDER</span><span class="PUNC">:</span><span class="WHIT">
<span class='line'> 82</span> </span><span class="WHIT">      </span><span class="COMM">// set the cylinder dimensions</span><span class="WHIT">
<span class='line'> 83</span> </span><span class="WHIT">      </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">geom</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">THREE.CylinderGeometry</span><span class="PUNC">(</span><span class="NUMB">0.5</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NUMB">0.5</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NUMB">1</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NUMB">16</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NUMB">1</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">false</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 84</span> </span><span class="WHIT">      </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">mesh</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">THREE.Mesh</span><span class="PUNC">(</span><span class="NAME">geom</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">colorMaterial</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 85</span> </span><span class="WHIT">      </span><span class="NAME">mesh.useQuaternion</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">true</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 86</span> </span><span class="WHIT">      </span><span class="NAME">mesh.quaternion.setFromAxisAngle</span><span class="PUNC">(</span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">THREE.Vector3</span><span class="PUNC">(</span><span class="NUMB">1</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">)</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">Math.PI</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NUMB">0.5</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 87</span> </span><span class="WHIT">      </span><span class="NAME">mesh.scale</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">THREE.Vector3</span><span class="PUNC">(</span><span class="NAME">message.scale.x</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">message.scale.y</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">message.scale.z</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 88</span> </span><span class="WHIT">      </span><span class="NAME">this.add</span><span class="PUNC">(</span><span class="NAME">mesh</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 89</span> </span><span class="WHIT">      </span><span class="KEYW">break</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 90</span> </span><span class="WHIT">    </span><span class="KEYW">case</span><span class="WHIT"> </span><span class="NAME">ROS3D.MARKER_CUBE_LIST</span><span class="PUNC">:</span><span class="WHIT">
<span class='line'> 91</span> </span><span class="WHIT">    </span><span class="KEYW">case</span><span class="WHIT"> </span><span class="NAME">ROS3D.MARKER_SPHERE_LIST</span><span class="PUNC">:</span><span class="WHIT">
<span class='line'> 92</span> </span><span class="WHIT">    </span><span class="KEYW">case</span><span class="WHIT"> </span><span class="NAME">ROS3D.MARKER_POINTS</span><span class="PUNC">:</span><span class="WHIT">
<span class='line'> 93</span> </span><span class="WHIT">      </span><span class="COMM">// for now, use a particle system for the lists</span><span class="WHIT">
<span class='line'> 94</span> </span><span class="WHIT">      </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">geometry</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">THREE.Geometry</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 95</span> </span><span class="WHIT">      </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">material</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">THREE.ParticleBasicMaterial</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 96</span> </span><span class="WHIT">        </span><span class="NAME">size</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">message.scale.x</span><span class="WHIT">
<span class='line'> 97</span> </span><span class="WHIT">      </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 98</span> 
<span class='line'> 99</span> </span><span class="WHIT">      </span><span class="COMM">// add the points</span><span class="WHIT">
<span class='line'>100</span> </span><span class="WHIT">      </span><span class="KEYW">for</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="WHIT"> </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">i</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">;</span><span class="WHIT"> </span><span class="NAME">i</span><span class="WHIT"> </span><span class="PUNC">&lt;</span><span class="WHIT"> </span><span class="NAME">message.points.length</span><span class="PUNC">;</span><span class="WHIT"> </span><span class="NAME">i</span><span class="PUNC">++</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'>101</span> </span><span class="WHIT">        </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">vertex</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">THREE.Vector3</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>102</span> </span><span class="WHIT">        </span><span class="NAME">vertex.x</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">message.points</span><span class="PUNC">[</span><span class="NAME">i</span><span class="PUNC">]</span><span class="PUNC">.</span><span class="NAME">x</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>103</span> </span><span class="WHIT">        </span><span class="NAME">vertex.y</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">message.points</span><span class="PUNC">[</span><span class="NAME">i</span><span class="PUNC">]</span><span class="PUNC">.</span><span class="NAME">y</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>104</span> </span><span class="WHIT">        </span><span class="NAME">vertex.z</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">message.points</span><span class="PUNC">[</span><span class="NAME">i</span><span class="PUNC">]</span><span class="PUNC">.</span><span class="NAME">z</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>105</span> </span><span class="WHIT">        </span><span class="NAME">geometry.vertices.push</span><span class="PUNC">(</span><span class="NAME">vertex</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>106</span> </span><span class="WHIT">      </span><span class="PUNC">}</span><span class="WHIT">
<span class='line'>107</span> 
<span class='line'>108</span> </span><span class="WHIT">      </span><span class="COMM">// determine the colors for each</span><span class="WHIT">
<span class='line'>109</span> </span><span class="WHIT">      </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">message.colors.length</span><span class="WHIT"> </span><span class="PUNC">===</span><span class="WHIT"> </span><span class="NAME">message.points.length</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'>110</span> </span><span class="WHIT">        </span><span class="NAME">material.vertexColors</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">true</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>111</span> </span><span class="WHIT">        </span><span class="KEYW">for</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="WHIT"> </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">i</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">;</span><span class="WHIT"> </span><span class="NAME">i</span><span class="WHIT"> </span><span class="PUNC">&lt;</span><span class="WHIT"> </span><span class="NAME">message.points.length</span><span class="PUNC">;</span><span class="WHIT"> </span><span class="NAME">i</span><span class="PUNC">++</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'>112</span> </span><span class="WHIT">          </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">color</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">THREE.Color</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>113</span> </span><span class="WHIT">          </span><span class="NAME">color.setRGB</span><span class="PUNC">(</span><span class="NAME">message.colors</span><span class="PUNC">[</span><span class="NAME">i</span><span class="PUNC">]</span><span class="PUNC">.</span><span class="NAME">r</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">message.colors</span><span class="PUNC">[</span><span class="NAME">i</span><span class="PUNC">]</span><span class="PUNC">.</span><span class="NAME">g</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">message.colors</span><span class="PUNC">[</span><span class="NAME">i</span><span class="PUNC">]</span><span class="PUNC">.</span><span class="NAME">b</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>114</span> </span><span class="WHIT">          </span><span class="NAME">geometry.colors.push</span><span class="PUNC">(</span><span class="NAME">color</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>115</span> </span><span class="WHIT">        </span><span class="PUNC">}</span><span class="WHIT">
<span class='line'>116</span> </span><span class="WHIT">      </span><span class="PUNC">}</span><span class="WHIT"> </span><span class="KEYW">else</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'>117</span> </span><span class="WHIT">        </span><span class="NAME">material.color.setRGB</span><span class="PUNC">(</span><span class="NAME">message.color.r</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">message.color.g</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">message.color.b</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>118</span> </span><span class="WHIT">      </span><span class="PUNC">}</span><span class="WHIT">
<span class='line'>119</span> 
<span class='line'>120</span> </span><span class="WHIT">      </span><span class="COMM">// add the particle system</span><span class="WHIT">
<span class='line'>121</span> </span><span class="WHIT">      </span><span class="NAME">this.add</span><span class="PUNC">(</span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">THREE.ParticleSystem</span><span class="PUNC">(</span><span class="NAME">geometry</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">material</span><span class="PUNC">)</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>122</span> </span><span class="WHIT">      </span><span class="KEYW">break</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>123</span> </span><span class="WHIT">    </span><span class="KEYW">case</span><span class="WHIT"> </span><span class="NAME">ROS3D.MARKER_TEXT_VIEW_FACING</span><span class="PUNC">:</span><span class="WHIT">
<span class='line'>124</span> </span><span class="WHIT">      </span><span class="COMM">// setup the text</span><span class="WHIT">
<span class='line'>125</span> </span><span class="WHIT">      </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">textGeo</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">THREE.TextGeometry</span><span class="PUNC">(</span><span class="NAME">message.text</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'>126</span> </span><span class="WHIT">        </span><span class="NAME">size</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">message.scale.x</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NUMB">0.5</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'>127</span> </span><span class="WHIT">        </span><span class="NAME">height</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NUMB">0.1</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">message.scale.x</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'>128</span> </span><span class="WHIT">        </span><span class="NAME">curveSegments</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NUMB">4</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'>129</span> </span><span class="WHIT">        </span><span class="NAME">font</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'helvetiker'</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'>130</span> </span><span class="WHIT">        </span><span class="NAME">bevelEnabled</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="KEYW">false</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'>131</span> </span><span class="WHIT">        </span><span class="NAME">bevelThickness</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NUMB">2</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'>132</span> </span><span class="WHIT">        </span><span class="NAME">bevelSize</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NUMB">2</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'>133</span> </span><span class="WHIT">        </span><span class="NAME">material</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'>134</span> </span><span class="WHIT">        </span><span class="NAME">extrudeMaterial</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="WHIT">
<span class='line'>135</span> </span><span class="WHIT">      </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>136</span> </span><span class="WHIT">      </span><span class="NAME">textGeo.computeVertexNormals</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>137</span> </span><span class="WHIT">      </span><span class="NAME">textGeo.computeBoundingBox</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>138</span> 
<span class='line'>139</span> </span><span class="WHIT">      </span><span class="COMM">// position the text and add it</span><span class="WHIT">
<span class='line'>140</span> </span><span class="WHIT">      </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">mesh</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">THREE.Mesh</span><span class="PUNC">(</span><span class="NAME">textGeo</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">colorMaterial</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>141</span> </span><span class="WHIT">      </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">centerOffset</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="NUMB">0.5</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">textGeo.boundingBox.max.x</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="WHIT"> </span><span class="NAME">textGeo.boundingBox.min.x</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>142</span> </span><span class="WHIT">      </span><span class="NAME">mesh.position.y</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="NAME">centerOffset</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>143</span> </span><span class="WHIT">      </span><span class="NAME">mesh.rotation.x</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">Math.PI</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NUMB">0.5</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>144</span> </span><span class="WHIT">      </span><span class="NAME">mesh.rotation.y</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">Math.PI</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NUMB">1.5</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>145</span> </span><span class="WHIT">      </span><span class="NAME">this.add</span><span class="PUNC">(</span><span class="NAME">mesh</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>146</span> </span><span class="WHIT">      </span><span class="KEYW">break</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>147</span> </span><span class="WHIT">    </span><span class="KEYW">case</span><span class="WHIT"> </span><span class="NAME">ROS3D.MARKER_MESH_RESOURCE</span><span class="PUNC">:</span><span class="WHIT">
<span class='line'>148</span> </span><span class="WHIT">      </span><span class="COMM">// load and add the mesh</span><span class="WHIT">
<span class='line'>149</span> </span><span class="WHIT">      </span><span class="NAME">this.add</span><span class="PUNC">(</span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROS3D.MeshResource</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
<span class='line'>150</span> </span><span class="WHIT">        </span><span class="NAME">path</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">path</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'>151</span> </span><span class="WHIT">        </span><span class="NAME">resource</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">message.mesh_resource.substr</span><span class="PUNC">(</span><span class="NUMB">10</span><span class="PUNC">)</span><span class="WHIT">
<span class='line'>152</span> </span><span class="WHIT">      </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>153</span> </span><span class="WHIT">      </span><span class="KEYW">break</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>154</span> </span><span class="WHIT">    </span><span class="KEYW">case</span><span class="WHIT"> </span><span class="NAME">ROS3D.MARKER_TRIANGLE_LIST</span><span class="PUNC">:</span><span class="WHIT">
<span class='line'>155</span> </span><span class="WHIT">      </span><span class="COMM">// create the list of triangles</span><span class="WHIT">
<span class='line'>156</span> </span><span class="WHIT">      </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">tri</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROS3D.TriangleList</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
<span class='line'>157</span> </span><span class="WHIT">        </span><span class="NAME">material</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">colorMaterial</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'>158</span> </span><span class="WHIT">        </span><span class="NAME">vertices</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">message.points</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'>159</span> </span><span class="WHIT">        </span><span class="NAME">colors</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">message.colors</span><span class="WHIT">
<span class='line'>160</span> </span><span class="WHIT">      </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>161</span> </span><span class="WHIT">      </span><span class="NAME">tri.scale</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">THREE.Vector3</span><span class="PUNC">(</span><span class="NAME">message.scale.x</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">message.scale.y</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">message.scale.z</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>162</span> </span><span class="WHIT">      </span><span class="NAME">this.add</span><span class="PUNC">(</span><span class="NAME">tri</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>163</span> </span><span class="WHIT">      </span><span class="KEYW">break</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>164</span> </span><span class="WHIT">    </span><span class="KEYW">default</span><span class="PUNC">:</span><span class="WHIT">
<span class='line'>165</span> </span><span class="WHIT">      </span><span class="NAME">console.error</span><span class="PUNC">(</span><span class="STRN">'Currently unsupported marker type: '</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="NAME">message.type</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>166</span> </span><span class="WHIT">      </span><span class="KEYW">break</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>167</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
<span class='line'>168</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>169</span> </span><span class="NAME">ROS3D.Marker.prototype.__proto__</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">THREE.Object3D.prototype</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>170</span> 
<span class='line'>171</span> </span><span class="COMM">/**
<span class='line'>172</span>  * Set the pose of this marker to the given values.
<span class='line'>173</span>  * 
<span class='line'>174</span>  * @param pose - the pose to set for this marker
<span class='line'>175</span>  */</span><span class="WHIT">
<span class='line'>176</span> </span><span class="NAME">ROS3D.Marker.prototype.setPose</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">pose</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'>177</span> </span><span class="WHIT">  </span><span class="COMM">// set position information</span><span class="WHIT">
<span class='line'>178</span> </span><span class="WHIT">  </span><span class="NAME">this.position.x</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">pose.position.x</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>179</span> </span><span class="WHIT">  </span><span class="NAME">this.position.y</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">pose.position.y</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>180</span> </span><span class="WHIT">  </span><span class="NAME">this.position.z</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">pose.position.z</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>181</span> 
<span class='line'>182</span> </span><span class="WHIT">  </span><span class="COMM">// set the rotation</span><span class="WHIT">
<span class='line'>183</span> </span><span class="WHIT">  </span><span class="NAME">this.quaternion</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">THREE.Quaternion</span><span class="PUNC">(</span><span class="NAME">pose.orientation.x</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">pose.orientation.y</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'>184</span> </span><span class="WHIT">      </span><span class="NAME">pose.orientation.z</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">pose.orientation.w</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>185</span> </span><span class="WHIT">  </span><span class="NAME">this.quaternion.normalize</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>186</span> 
<span class='line'>187</span> </span><span class="WHIT">  </span><span class="COMM">// update the world</span><span class="WHIT">
<span class='line'>188</span> </span><span class="WHIT">  </span><span class="NAME">this.updateMatrixWorld</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>189</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>190</span> </span></pre></body></html>